https://it.mathworks.com/help/robotics/ref/rigidbodytree.addbody.html
addBody - Add body to robot - MATLAB
This MATLAB function adds a rigid body to the robot object and is attached to the rigid body parent specified by parentname.
addbodyrobotmatlab
https://fr.mathworks.com/help/aerotbx/ug/aero.animation.addbody.html
Aero.Animation.addBody - Add body to animation object - MATLAB
This MATLAB function adds a loaded body, b, to the animation object, h, generates patches for the body, and returns the index of the body in idx.
aeroanimationaddbodyobject